CN104608114A

CN104608114A - Robot system and method for producing to-be-processed material

Info

Publication number: CN104608114A
Application number: CN201410599393.2A
Authority: CN
Inventors: 冈久学; 中仓雅美; 园田哲平
Original assignee: Yaskawa Electric Corp
Current assignee: Yaskawa Electric Corp
Priority date: 2013-11-01
Filing date: 2014-10-30
Publication date: 2015-05-13
Anticipated expiration: 2034-10-30
Also published as: JP5971226B2; US9908160B2; EP2868403A1; EP2868403B1; JP2015085485A; CN104608114B; US20150121983A1

Abstract

A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.

Description

The manufacture method of robot system and machined object

Technical field

The present invention relates to the manufacture method of robot system and machined object.

Background technology

In the past, propose various use and have the robot of end effector to the robot system of processed product enforcement pressurization processing, wherein, described end effector had backer roll.

Such as, patent document 1 disclosed " roll-type hemming processing method " uses the robot with above-mentioned end actuator, by backer roll, the outer peripheral edge bending machining of the outer panels of vehicle body is become roughly U-shaped, carries out so-called flanging processing.

In addition, backer roll plus-pressure by be arranged on end effector etc., give towards the straight-moving mechanism of machined surface folding and unfolding backer roll.Straight-moving mechanism is generally made up of the fluid cylinder etc. of hydraulic pressure or the such use fluid of air pressure.

[prior art document]

[patent document]

[patent document 1] Japanese Unexamined Patent Publication 2002-263756 publication

But, in the above prior art, at high-quality and easily implement flanging processing in also have room for improvement.

Specifically, when employing fluid cylinder, there is following situation: because the attitude of robot is different, along with the carrying out of pressurization, robots arm significantly bends, do not give pressurized suitable plus-pressure by backer roll.Thus, be insufficient from enforcement high-quality flanging processing aspect.

In addition, because the deflection of above-mentioned flexure changes because the attitude of robot is different, thus need repeatedly to carry out a large amount of examinations and come to carry out teaching to robot by mistake, process becomes complicated.

In addition, this problem comprises problem total in all pressurization processing of flanging processing.

Summary of the invention

One embodiment of the present invention is made in view of the foregoing, its objective is that provide can high-quality and easily implement robot system and the manufacture method of machined object of pressurization processing.

The robot system of one embodiment of the present invention has end effector, robots arm and control part.Described end effector comprises backer roll and the straight-moving mechanism towards pressurized this backer roll of folding and unfolding.Described robots arm is for supporting described end effector.Described control part, in the mode of the plus-pressure constant by described described pressurized of backer roll imparting, controls the folding and unfolding of described straight-moving mechanism to described backer roll.

The effect of invention

According to an embodiment of the present invention, can high-quality processing and easily enforcement is pressurizeed.

Accompanying drawing explanation

Fig. 1 is the integrally-built schematic diagram of the robot system representing embodiment.

Fig. 2 is the side schematic view of the structure representing robot.

Fig. 3 A is the schematic perspective view of the structure representing end effector.

Fig. 3 B be Fig. 3 A to the general diagram of looking A.

Fig. 3 C is the schematic diagram representing the mode that flanging is processed.

Fig. 4 A is the schematic diagram of the weakness of the pressurization processing representing prior art.

Fig. 4 B is the schematic diagram of the strong point of the pressurization processing representing embodiment.

Fig. 5 is the block diagram of the structure of the robot system representing embodiment.

Fig. 6 is the figure of the example representing flanging order.

Fig. 7 A is the key diagram for changing stressed flanging order.

Fig. 7 B is the key diagram of the flanging order relevant to position control.

Fig. 8 is the flow chart of the processing procedure performed by robot system representing embodiment.

Description of reference numerals

1 robot system

10 machine table

20 work mounting s portions

30,30 ' robot

31 abutment portion

32 revolution pedestals

33,33 ' robots arm

33a lower arm

33b upper arm

33c wrist

33d flange part

40 control device

41 control parts

41a program editing portion

41b inverse kinematics operational part

41c torque control division

41d position control section

42 storage parts

42a teaching information

50,50 ' end effector

51 servomotors

52 straight-moving mechanisms

52a direct acting axle

53 backer rolls

60 input units

AXr axle

B axle

L axle

P1, P2 impact point

R axle

S gyroaxis

T axle

U axle

W workpiece

The outer edge of W1 outer panels

W2 wainscot

α, β elasticity

α 1, β 1 plus-pressure

Detailed description of the invention

Below, the embodiment of the robot system that present invention will be described in detail with reference to the accompanying and the manufacture method of machined object.In addition, the present invention is not limited by embodiment shown below.

In addition, below, be described for the robot system of carrying out flanging processing, but be not limited thereto, the robot system of beaing the such pressurization processing of processing of such as carrying out bending machining beyond flanging processing or sheet metal can also be replaced as.

In addition, below, about the object, the i.e. machined object that are implemented flanging processing, be denoted as " workpiece ".

Fig. 1 is the integrally-built schematic diagram of the robot system 1 representing embodiment.In addition, in FIG, for easy understand illustrates, illustrate comprise by vertical be upwards the three-dimensional orthogonal coordinate system of Z axis of positive direction.Use in other accompanying drawings that described orthogonal coordinate system is sometimes also used in the following description.

In addition, below, for by multiple structural element formed, sometimes only to the part mark Reference numeral in multiple, mark Reference numeral is then omitted for other structural elements.Now, the part marking drawings attached mark is identical structures with other.

As shown in Figure 1, robot system 1 has machine table 10, work mounting s portion 20, robot 30 and control device 40.

Machine table 10 is placed with workpiece W.Work mounting s portion 20 is provided with multiple, carries out multi-point support and be fixed in machine table 10 by workpiece W the outer edge of workpiece W.In addition, work mounting s portion 20 is all movable, backer roll 53 described later with the outer edge of workpiece W for path of motion and move time, movably can dodge in the mode do not contacted with backer roll 53 (arrow 101 with reference in figure).Described action case of dodging is as controlled by control device 40.

Robot 30 has abutment portion 31, revolution pedestal 32 and robots arm 33.In addition, robots arm 33 has lower arm 33a, upper arm 33b, wrist 33c and flange part 33d.

In addition, below, the installation surface side of the abutment portion 31 being provided with robot 30 is called " base end side ", the base end side periphery of each parts is called " base end part ".In addition, the flange part 33d side of robot 30 is called " front ", the front periphery of each parts is called " leading section ".

Abutment portion 31 is fixed on the supporting base on ground etc.Revolution pedestal 32 is can pivotal mode be arranged in described abutment portion 31.Lower arm 33a is arranged to rotate relative to revolution pedestal 32.

Upper arm 33b is arranged to rotate relative to lower arm 33a.Wrist 33c is arranged on the leading section of upper arm 33b and can swings.In addition, flange part 33d is arranged to rotate relative to described wrist 33c.

In addition, the end effector 50 comprising backer roll 53 is installed at flange part 33d.That is, robots arm 33 is for supports end actuator 50.

About the structure of described robot 30, Fig. 2 is used to further describe.Fig. 2 is the side schematic view of the structure representing robot 30.

As shown in Figure 2, robot 30 is so-called vertical joint type structures.Revolution pedestal 32 to be attached in abutment portion 31 and can turn round around gyroaxis S (arrow 201 in reference figure).The base end part of lower arm 33a is attached on revolution pedestal 32, and lower arm 33a can rotate around (comprising not coplanar position) axle L substantially vertical with gyroaxis S (arrow 202 with reference in figure).

The base end part of upper arm 33b is attached on the leading section of lower arm 33a, and upper arm 33b can rotate around the axle U almost parallel with axle L (arrow 203 with reference in figure).The base end part of wrist 33c is attached on the leading section of upper arm 33b, and wrist 33c can rotate around (comprising not coplanar position) axle R substantially vertical with axle U (arrow 204 with reference in figure).

In addition, wrist 33c is arranged to swing around the axle B substantially vertical with axle R (arrow 205 with reference in figure).Flange part 33d is attached on wrist 33c, and can rotate around the axle T substantially vertical with axle B (arrow 206 with reference in figure).

In addition, each joint portion had robots arm 33 is equipped with the illustrated servomotor of omission, and it is various that robot 30 makes attitude become by the position of rotation of the servomotor of each described joint portion of control.

In addition, as mentioned above, flange part 33d is provided with end effector 50.Below, the concrete structure about described end effector 50 is described.

Fig. 3 A is the schematic perspective view of the structure representing end effector 50.In addition, Fig. 3 B be Fig. 3 A to the general diagram of looking A.In addition, compare Fig. 3 A, reduced representation has end effector 50 in figure 3b.

As shown in Fig. 3 A and Fig. 3 B, end effector 50 has servomotor 51, straight-moving mechanism 52 and backer roll 53.Servomotor 51 is the drive sources making straight-moving mechanism 52 carry out direct acting.

Straight-moving mechanism 52 is driven by servomotor 51, towards pressurized the folding and unfolding backer roll 53 (arrow 301 with reference to Fig. 3 B) of workpiece W.In addition, consider pressurization response etc., straight-moving mechanism 52 preferably adopts the structure comprising ball-screw etc.

Moving part, i.e. direct acting axle 52a that backer roll 53 is attached at straight-moving mechanism 52 can rotate around axle AXr.In addition, backer roll 53 abuts pressurized of workpiece W by straight-moving mechanism 52, gives and produces rolling from the stressed of servomotor 51 simultaneously, carry out pressurization processing thus to machined surface towards described machined surface.

As an example of described pressurization processing, show the mode of flanging processing.Fig. 3 C is the schematic diagram representing the mode that flanging is processed.Here, the Reference numeral W1 in figure refers to the outer edge of the outer panels of vehicle body.In addition, similarly, Reference numeral W2 refers to the wainscot of vehicle body.In addition, being not limited to vehicle body, also can be household appliances etc.

As shown in Figure 3 C, in flanging processing, from the state of " before processing ", via preparation bending machining, i.e. " pre-flanging ", then implement formal bending machining, i.e. " flanging ".That is, the outer edge W1 of outer panels is bent to about roughly 45 ° in " pre-flanging ", in " flanging ", be bent to roughly U-shaped in the mode engaged with wainscot W2.

Therefore, as shown in the arrow 302 and 303 in figure, time " pre-flanging " or " flanging " time the compression aspect of backer roll 53 different separately.

As mentioned above, described compression aspect is determined like this: controlled the position of rotation of the servomotor be mounted on robots arm 33 by robot 30 and make attitudes vibration.The action control of the attitudes vibration of described robot 30 is undertaken by control device 40 (with reference to Fig. 1).

In addition, not only compression aspect, servomotor 51 is controlled to by control device 40, when " pre-flanging " or " flanging " time, have nothing to do with the change in shape of workpiece W, backer roll 53 copy pressurized shape and suitably to pressurized give plus-pressure.About the various controls that described control device 40 carries out, describe in detail in the explanation after using Fig. 5.

In addition, compared with using the situation of fluid cylinder etc. in prior art, as in this embodiment, control straight-moving mechanism 52 via servomotor 51, the haul distance of straight-moving mechanism 52 can be extended.

Thereby, it is possible to obtain following beneficial effect.Fig. 4 A is the schematic diagram of the weakness of the pressurization processing representing prior art.In addition, Fig. 4 B is the schematic diagram of the strong point of the pressurization processing representing embodiment.In addition, in figs. 4 a and 4b, for ease of illustrating, the poles such as aforesaid axle L, U, B are used to schematically illustrate robot 30,30 ' and structural element.

As shown in Figure 4 A, when employing employs the prior art of the end effector 50 ' comprising fluid cylinder etc., because haul distance is shorter, so when robots arm 33 ' is subject to the reaction force that produces because of pressurization and bends, sometimes occur that backer roll 53 to float etc. and to reduce stressed situation.Therefore, there is the rough sledding that can not suitably keep plus-pressure such.

To this, as shown in Figure 4 B, adopt when driving the present embodiment of straight-moving mechanism 52 by servomotor 51, due to can haul distance be extended, even if thus the reaction force produced because of pressurization makes robots arm 33 bend, backer roll 53 also can be suppressed to float.

In addition, even if robots arm 33 bends, also can by continuing to drive servomotor 51 to obtain the balance with reaction force.That is, the beneficial effect suitably keeping plus-pressure such can be obtained, contribute to implementing flanging processing in high quality.

In addition, by using servomotor 51, can according to position detector monitors travel position such as encoders.Therefore, while supervision travel position, servomotor 51 is controlled to the plus-pressure constant of pressurized being given workpiece W by backer roll 53, the processing of comparatively high-quality flanging can be implemented thus.

Here, return the explanation of Fig. 1 for the time being, control device 40 is described.The such various devices in control device 40 and above-mentioned work mounting s portion 20 or robot 30 are connected and can carry out information transmission with it.In addition, its connected mode can be wired and wireless.

Here, control device 40 is controllers of the action for controlling connected various devices, comprises various control appliance, arithmetic processing apparatus, memory device etc.

Further, control device 40 performs the such as above-mentioned action control making the attitudes vibration of robot 30 based on the specific program, i.e. " task " that make robot 30 produce action." task " is registered in the memory device of control device 40 etc. via the illustrated input unit of omission (such as, programmable device etc.).

Control device 40 generates based on described " task " and makes robot 30 produce the actuating signal of action and export to robot 30.The pulse signal that this actuating signal sends to the servomotor being mounted in its each joint portion as such as robot 30 and generating.

Mainly exemplify the internal structure of described control device 40, below, use Fig. 5 that the mount structure of the robot system 1 of embodiment is described.Fig. 5 is the block diagram of the structure of the robot system 1 representing embodiment.In addition, in Figure 5, illustrate only structural element required when robot system 1 is described, eliminate the record of universal architecture key element.

In addition, use Fig. 5 explanation in, to the structural element shown in Fig. 1 ~ Fig. 4 B, sometimes simplify or the description thereof will be omitted.

As shown in Figure 5, control device 40 has control part 41 and storage part 42.Control part 41 has program editing portion 41a, inverse kinematics operational part 41b, torque control division 41c and position control section 41d.

Storage part 42 is the such memory devices of hard disk drive or nonvolatile memory, for storing teaching information 42a.Teaching information 42a is the information of the program of the path of motion comprised for determining robots arm 33, is an example of program storage part.

In addition, all each structural element of the control device 40 shown in Fig. 5 also can not be configured in control device 40 monomer.Such as, also the teaching information 42a be stored in storage part 42 can be stored in the internal storage that robot 30 has.In addition, can also be stored in the epigyny device of control device 40, control device 40 suitably obtains from epigyny device.

The entirety that control part 41 carries out control device 40 controls.Specifically, to be given the mode of the plus-pressure constant of pressurized of workpiece W by backer roll 53, control the folding and unfolding of straight-moving mechanism 52 pairs of backer rolls 53.

Program editing portion 41a is from input units 60 such as PC (Personal Computer, PC) or programmable devices, and the action control of straight-moving mechanism 52 receiving end effector 50 starts and terminate such to process relevant setting to flanging.In addition, the setting content received is reflected in the said procedure contained by teaching information 42a by program editing portion 41a.

In addition, the operator of input device 60 is via program editing portion 41a, and any time (step location) in program is determined to process relevant setting to above-mentioned flanging by macros.Therefore, program editing portion 41a has the preprocessing function described macros being replaced as program.In addition, below, be called processing relevant macros to this flanging " flanging order ".

Here, use Fig. 6 that one example of described flanging order is described.Fig. 6 is the figure of the example representing flanging order.

As shown in Figure 6, as about the direct torque of servomotor 51 and the macros of position control, flanging order is determined in advance.

Such as, the No.1 ~ No.3 of Fig. 6 represents the flanging order relevant to the direct torque of servomotor 51." HEM_ON " of No.1 is for sending the order starting the instruction of pressurizeing with regulation torque.On the contrary, " HEM_OFF " of No.2 is the order for sending the instruction terminating pressurization.

In addition, " HEM_CH " of No.3 is order plus-pressure being changed in path of motion midway.Such as following situation can be used for for changing this stressed flanging order.Fig. 7 A is the key diagram for changing stressed flanging order.

First, likely there is the situation that its shape of pressurized or character etc. are inconsistent in workpiece W.As shown in Figure 7 A, suppose on the path of motion of backer roll 53, there is the different position of elasticity (" elasticity α " and " elasticity β " with reference in figure).In addition, with the some P1 in scheming and some P2 for the impact point on path of motion.

Now, during with the position pressurization of same torque to elasticity α and elasticity β, the plus-pressure being given pressurized by backer roll 53 is not constant.Therefore, by using " HEM_CH " order, such as, to apply to correspond to the flexible stressed mode that has separately to determine program, the plus-pressure constant of pressurized of imparting can be made thus.

In example shown in Fig. 7 A, specifically, operator determines program with " HEM_CH " order, with when impact point P1, applies by servomotor 51 the suitable plus-pressure β 1 corresponding to elasticity β.

In addition, when impact point P2, determine program with " HEM_CH " order, apply by servomotor 51 the suitable plus-pressure α 1 corresponding to elasticity α.

In addition, here, illustrate the situation that " elasticity " is different, but when other different in kinds, this " HEM_CH " also can be used to order.Certainly, can also use according to the shape of workpiece W.

Return the explanation of Fig. 6, then the flanging order relevant to position control is described.As shown in Figure 6, No.4 and No.5 represents the flanging order relevant to the position control of servomotor 51." HEM_PL " of No.4 is the order for sending the instruction being switched to position control from direct torque." HEM_KP " of No.5 is the order of the travel position for keeping straight-moving mechanism 52.

These flanging orders relevant to position control such as can be used for following situation.Fig. 7 B is the key diagram of the flanging order relevant to position control.

As shown in Figure 7 B, workpiece W roughly rectangular when there is top view, supposes to carry out flanging processing to the outer edge of described workpiece W.

Now, with the bight etc. that the part that dotted line closed curve surrounds represents in figure, due to the lower easy generation plastic deformation of intensity, so from the angle improving crudy, compared with direct torque, adjust travel position preferably by position control and pressurize.

Therefore, in such bight etc., preferably program is determined like this: carry out position control by using " HEM_PL " order.Thus, flanging processing can be implemented in high quality.

In addition, the edge of the rectangle beyond bight is divided, and such as, when " pre-flanging " (with reference to Fig. 3 C), from the angle improving crudy, preferably keeps travel position and pressurizes.

Therefore, when " pre-flanging ", preferably program is determined like this: keep travel position by using " HEM_KP " order.In addition, divide in the edge of identical rectangle, also can formal bending, namely " flanging " time carry out direct torque.Like this, according to the shape, character, processing mode etc. at the position of workpiece W, determine direct torque and position control in the proper step position of program, flanging processing can be implemented thus in high quality.

In addition, as macros, operator can only need confirm to process relevant setting content to flanging, and easily determines these flanging orders in the arbitrary step location of program by input unit 60.That is, can contribute to easily implementing flanging processing.

Return the explanation of Fig. 5, inverse kinematics operational part 41b is then described.Inverse kinematics operational part 41b based on the path of motion of the robots arm 33 of teaching in advance as teaching information 42a, the position of rotation of each joint portion of robotic arm 33.That is, inverse kinematics operational part 41b performs and makes robots arm 33 produce the operation of action.

Specifically, inverse kinematics operational part 41b is such as using the position of the coordinate value of the impact point on above-mentioned path of motion as the representative point of end effector 50, using the attitude of the compression aspect of described position as end effector 50, generate by inverse kinematics computing the actuating signal making robot 30 produce action.In addition, such as actuating signal is generated as the pulse signal sent to the servomotor on each joint portion being mounted in robots arm 33.

Torque control division 41c, by controlling the torque of the servomotor 51 of end effector 50, carries out the control making the plus-pressure constant being given pressurized of workpiece W by backer roll 53.Specifically, torque control division 41c, based on the flanging order be reflected to by program editing portion 41a in teaching information 42a, carries out the direct torque of servomotor 51.

Position control section 41d controls the overhang of backer roll 53, in other words, controls the travel position of straight-moving mechanism 52.Specifically, position control section 41d carries out the position control of servomotor 51 based on the flanging order be reflected in teaching information 42a by program editing portion 41a, controls the travel position of straight-moving mechanism 52 thus.

In addition, position control section 41d monitors the travel position of straight-moving mechanism 52 based on the testing result of the encoder of servomotor 51.By described supervision, when identifying exception, carry out the error handle specified.Like this, torque control division 41c and position control section 41d performs the control operation of straight-moving mechanism 52 folding and unfolding backer roll 53.

Below, use Fig. 8 that the processing procedure performed by robot system 1 of embodiment is described.Fig. 8 is the flow chart of the processing procedure performed by robot system 1 representing embodiment.In addition, in fig. 8, suppose by program editing portion 41a, the program defining flanging order to be reflected in teaching information 42a.

As shown in Figure 8, first, teaching information 42a is read (step S101).Here, suppose that the program contained by teaching information 42a is read a step by a step.

In addition, inverse kinematics operational part 41b is based on the position of rotation (step S102) of each joint portion of teaching information 42a robotic arm 33.

In addition, the flanging order (step S103) of the change of the attitude with robots arm 33 is determined whether.Here, when being judged to be flanging order (step S103, yes), judged the kind (step S104) of flanging order.

If flanging order is " HEM_ON ", torque control division 41c controls servomotor 51 to start to pressurize (step S105).In addition, if flanging order is " HEM_OFF ", torque control division 41c controls servomotor 51 to terminate to pressurize (step S106).

In addition, if flanging order is " HEM_CH ", torque control division 41c controls servomotor 51 to change plus-pressure (step S107).

In addition, if flanging order is " HEM_PL ", carry out the switching (step S108) of the position control to position control section 41d.In addition, if flanging order is " HEM_KP ", position control section 41d keeps the travel position (step S109) of straight-moving mechanism 52.

In addition, when not meeting the decision condition of step S103 (step S103, no), control is made to move to step S110.

Then, in the supervision of position control section 41d to travel position, exception (step S110) has been determined whether.Here, when not monitoring abnormal (step S110, no), judge whether there is next program step (step S111) in teaching information 42a.

Then, when having a next program step (step S111, yes), the process from step S101 is repeatedly carried out.In addition, when there is no a next program step (step S111, no), end process.

In addition, when monitoring abnormal in step s 110 (step S110, yes), carry out the error handle (step S112) that specifies and end process.

As mentioned above, the robot system of embodiment has end effector, robots arm and control part.Above-mentioned end actuator comprises backer roll and the straight-moving mechanism towards pressurized this backer roll of folding and unfolding.

Above-mentioned robots arm is for supporting above-mentioned end actuator.Above-mentioned control part, in the mode of the plus-pressure constant by above-mentioned above-mentioned pressurized of backer roll imparting, controls the folding and unfolding of above-mentioned straight-moving mechanism to above-mentioned backer roll.

Therefore, according to the robot system of embodiment, can high-quality processing and easily enforcement is pressurizeed.

In addition, in the above-described embodiment, exemplified with using servomotor to drive the situation of straight-moving mechanism, now, compared with using the prior art of fluid cylinder etc., equipment cable can be made thinner, thus the beneficial effect that distribution becomes easily such can also be obtained.That is, in raising maintenance, owing to being difficult to limit the action of robot, thus the mobility of robot can be improved.

In addition, in the above-described embodiment, illustrate and by movable work mounting s portion multi-point support is carried out to the outer edge of workpiece and to the fixing situation of machine table, but the fixing means of workpiece is not limited thereto.Such as, also can configure the adsorption section carrying out vacuum suction in machine table, by described adsorption section, workpiece is fixed in machine table.

In addition, in the above-described embodiment, be 6 axle one armed robots exemplified with robot, but do not limit the number of axle and arm number.Therefore, such as 7 axle robots or tow-armed robot etc. can also be used.

For a person skilled in the art, further effect and other variation can also be drawn.Thus, scope of the present invention is not limited to specific, the representative embodiment that describes in detail above.So in the master spirit not departing from the invention that claims and equivalent thereof define or scope, can various change be carried out.

Claims

1. a robot system, is characterized in that, has:

End effector, comprises backer roll and the straight-moving mechanism towards pressurized this backer roll of folding and unfolding;

Robots arm, for supporting described end effector; And

Control part, in the mode of the plus-pressure constant by described described pressurized of backer roll imparting, controls the folding and unfolding of described straight-moving mechanism to described backer roll.

2. robot system as claimed in claim 1, is characterized in that,

Described end effector comprises the servomotor making described straight-moving mechanism direct acting.

3. robot system as claimed in claim 2, is characterized in that,

Described control part carries out by the torque controlling described servomotor the control making described plus-pressure constant.

4. robot system as claimed in claim 2 or claim 3, is characterized in that,

Described control part can control the travel position of the overhang as described backer roll.

5. robot system as claimed in claim 4, is characterized in that,

Described travel position can be remained on assigned position by described control part.

6. the robot system as described in claim 1,2 or 3, is characterized in that,

Described control part can change described plus-pressure according to the shape of described pressurized or character.

7. the robot system as described in claim 1,2 or 3, is characterized in that,

Described pressurized face is the flanging machined surface being carried out bending machining by described backer roll.

8. the robot system as described in claim 1,2 or 3, is characterized in that,

Described robots arm has and is carried out by servomotor multiple joint portions of driving,

Described control part has inverse kinematics operational part, and described inverse kinematics operational part is based on the position of rotation being controlled described multiple joint portion in advance by the path of motion of the described robots arm of teaching.

9. the robot system as described in claim 1,2 or 3, is characterized in that,

Also have program storage part, it is for storing the program of the path of motion for determining described robots arm,

Described control part has program editing portion, described program editing portion in described program, the setting that the action control receiving the described straight-moving mechanism of described end effector starts and terminates.

10. robot system as claimed in claim 9, is characterized in that,

Described program editing portion in any time of described program, can determine the order control the torque making described straight-moving mechanism carry out the servomotor of direct acting and the order controlled the travel position of described straight-moving mechanism.

The manufacture method of 11. 1 kinds of machined objects, is characterized in that, comprising:

Make robots arm produce the operation of action, wherein, described robots arm is used for supports end actuator, and described end effector comprises backer roll and the straight-moving mechanism towards pressurized this backer roll of folding and unfolding; And

In the mode of the plus-pressure constant by described described pressurized of backer roll imparting, control the operation of described straight-moving mechanism to the folding and unfolding of described backer roll.